Ann Arbor would be great for the family but is a bit of a drive from Novi. You can do it but I wouldnt want to

You can go somewhere in between. Say Plymouth or Canton. Canton would be easy to Novi and Ypsilanti. Plymouth is really close to Novi but Ypsilanti would be a little bit more difficult.
Maybe somewhere farther up US23. You could take 23 to Ypsi and one of the mile roads to Novi. But thats a little more rural IMHO but you might find bigger lots.
But if you are gonna end up driving to Rochester or Auburn hills I might move out that way. I guess it depends how many day/week you have to go there. Your talking an hour drive home at rush hour from say Auburn Hills to Canton. If you work odd hours it wouldnt be so bad.
But I can't speak for Auburn or Rochester Hills as I have never lived there and only know its a pain to get there from where I live (Wayne)

Rochester especially.
How far are you willing to drive? And in a year how many days a week do you anticipate being at each location?